0

Full Content is available to subscribers

Subscribe/Learn More  >

Impedance and Admittance Controller for a Multi-Axis Powered Ankle-Foot Prosthesis

[+] Author Affiliations
Evandro M. Ficanha, Mohammad Rastgaar

Michigan Technological University, Houghton, MI

Paper No. DSCC2014-6032, pp. V003T43A002; 10 pages
doi:10.1115/DSCC2014-6032
From:
  • ASME 2014 Dynamic Systems and Control Conference
  • Volume 3: Industrial Applications; Modeling for Oil and Gas, Control and Validation, Estimation, and Control of Automotive Systems; Multi-Agent and Networked Systems; Control System Design; Physical Human-Robot Interaction; Rehabilitation Robotics; Sensing and Actuation for Control; Biomedical Systems; Time Delay Systems and Stability; Unmanned Ground and Surface Robotics; Vehicle Motion Controls; Vibration Analysis and Isolation; Vibration and Control for Energy Harvesting; Wind Energy
  • San Antonio, Texas, USA, October 22–24, 2014
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-4620-9
  • Copyright © 2014 by ASME

abstract

This paper introduces a finite state machine to select between impedance and admittance control for a powered ankle-foot prosthesis controllable in both Dorsiflexion-Plantarflexion (DP) and Inversion-Eversion (IE). Strain gauges are installed on the prosthesis’ foot to measure the strain caused by ground reaction forces, which are correlated to the external torques in DP and IE. The external torques are used for the admittance and impedance controllers. Additionally, the finite state machine uses the strain gauges feedback to detect the heel-strike and switch to admittance control. The admittance control accepts torque feedback to generate motion, this way larger feedback torques effectively reduces the stiffness of the ankle. During push off, the finite state machine switches to impedance control, accepting motion feedback to generate the appropriated torques. The quasi-static stiffness of the prosthesis with impedance control was tested, showing a near linear relationship between the torque feedback gain and the stiffness of the ankle. The finite state machine and controllers were also evaluated using a custom-made circular treadmill and the results were compared to the results of position and passive controllers; showing that the impedance/admittance controller was capable of tracking the desired input trajectory while decreasing the required torque at the ankle joint.

Copyright © 2014 by ASME

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In